Yeah I had a look for a good article and didn’t find anything I loved in my brief search. I think illustrations are much more useful than code, fwiw. In particu

Yeah I had a look for a good article and didn’t find anything I loved in my brief search. I think illustrations are much more useful than code, fwiw. In particular: - for what Minkowski sums/differences are (maybe some kind of sweep animation would help) - maybe something to describe what a convex set is / what support functions are. Phrasing them as a supremum of dot products isn’t super useful. You need some idea of some properties implied by sets being convex to follow the next part - maybe some kind of visual demonstration for the support function of the Minkowski difference - several illustrations of the steps of the algorithm for determining if 0 is in the set. I think these are some of the more useful and specific illustrations